Skip to main content

Module 3: Bipedal Locomotion & Whole-Body Control

Walking, Balance & Loco-Manipulation

Duration: 8 hours · Level: Advanced · Lessons: 5

From ZMP to reinforcement learning: build a deep understanding of how modern humanoids achieve robust, dynamic locomotion across real-world terrain.

Prerequisites​

Learning outcomes

By the end of this module you will be able to:

  • Understand ZMP, MPC, and RL-based locomotion in depth
  • Implement whole-body control (WBC) for combined loco-manipulation
  • Design terrain-adaptive locomotion policies for real-world deployment

Lessons in this module​

  1. 3.1 — Locomotion Foundations: ZMP, CoM, and Linear Inverted Pendulum · 60 min
  2. 3.2 — Model Predictive Control for Dynamic Walking · 65 min
  3. 3.3 — Reinforcement Learning for Locomotion · 70 min
  4. 3.4 — Whole-Body Control: Moving & Working Simultaneously · 60 min
  5. 3.5 — Terrain Adaptation & Push Recovery · 50 min

👉 Start here: 3.1 — Locomotion Foundations: ZMP, CoM, and Linear Inverted Pendulum